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<div class="title">common.h</div>  </div>
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<a href="common_2include_2pcl_2common_2common_8h.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_COMMON_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_COMMON_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;cfloat&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;{</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <a class="code" href="group__common.html#ga8c74d7c459961a2650c22eff8126aef8">getAngle3D</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;v1, <span class="keyword">const</span> Eigen::Vector4f &amp;v2, <span class="keyword">const</span> <span class="keywordtype">bool</span> in_degree = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <a class="code" href="group__common.html#ga8c74d7c459961a2650c22eff8126aef8">getAngle3D</a> (<span class="keyword">const</span> Eigen::Vector3f &amp;v1, <span class="keyword">const</span> Eigen::Vector3f &amp;v2, <span class="keyword">const</span> <span class="keywordtype">bool</span> in_degree = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <a class="code" href="group__common.html#ga3349ce9c26d4acbb1adae1e9b2d5f7e5">getMeanStd</a> (<span class="keyword">const</span> std::vector&lt;float&gt; &amp;values, <span class="keywordtype">double</span> &amp;mean, <span class="keywordtype">double</span> &amp;stddev);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <a class="code" href="group__common.html#gab831a44b375fa7e6bada740d1d17e247">getPointsInBox</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, Eigen::Vector4f &amp;min_pt,</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                  Eigen::Vector4f &amp;max_pt, std::vector&lt;int&gt; &amp;indices);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <a class="code" href="group__common.html#gab5669ac9649b383c053ef67cc06e6b55">getMaxDistance</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, <span class="keyword">const</span> Eigen::Vector4f &amp;pivot_pt, Eigen::Vector4f &amp;max_pt);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <a class="code" href="group__common.html#gab5669ac9649b383c053ef67cc06e6b55">getMaxDistance</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                  <span class="keyword">const</span> Eigen::Vector4f &amp;pivot_pt, Eigen::Vector4f &amp;max_pt);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <a class="code" href="group__common.html#ga41eb246206d51f77a8cb82b5d963e6a2">getMinMax3D</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;min_pt, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;max_pt);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <a class="code" href="group__common.html#ga41eb246206d51f77a8cb82b5d963e6a2">getMinMax3D</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;               Eigen::Vector4f &amp;min_pt, Eigen::Vector4f &amp;max_pt);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <a class="code" href="group__common.html#ga41eb246206d51f77a8cb82b5d963e6a2">getMinMax3D</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;               Eigen::Vector4f &amp;min_pt, Eigen::Vector4f &amp;max_pt);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <a class="code" href="group__common.html#ga41eb246206d51f77a8cb82b5d963e6a2">getMinMax3D</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices, </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;               Eigen::Vector4f &amp;min_pt, Eigen::Vector4f &amp;max_pt);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <a class="code" href="group__common.html#gab64d6ba9e834d29feda71a76d3ec841f">getCircumcircleRadius</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pa, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pb, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pc);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <a class="code" href="group__common.html#ga287e6ce2d4be348c059baf31eaf2dd54">getMinMax</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;histogram, <span class="keywordtype">int</span> len, <span class="keywordtype">float</span> &amp;min_p, <span class="keywordtype">float</span> &amp;max_p);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <a class="code" href="group__common.html#ga1a9e18520c49be76f2a28834e2da8a56">calculatePolygonArea</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;polygon);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  PCL_EXPORTS <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="group__common.html#ga287e6ce2d4be348c059baf31eaf2dd54">  192</a></span>&#160;  <a class="code" href="group__common.html#ga287e6ce2d4be348c059baf31eaf2dd54">getMinMax</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, <span class="keywordtype">int</span> idx, <span class="keyword">const</span> std::string &amp;field_name,</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;             <span class="keywordtype">float</span> &amp;min_p, <span class="keywordtype">float</span> &amp;max_p);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  PCL_EXPORTS <span class="keywordtype">void</span></div>
<div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="group__common.html#gacb684087702126b29c8b99f1e2c2786b">  202</a></span>&#160;  <a class="code" href="group__common.html#gacb684087702126b29c8b99f1e2c2786b">getMeanStdDev</a> (<span class="keyword">const</span> std::vector&lt;float&gt; &amp;values, <span class="keywordtype">double</span> &amp;mean, <span class="keywordtype">double</span> &amp;stddev);</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;}</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="preprocessor">#include &lt;pcl/common/impl/common.hpp&gt;</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_COMMON_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="agroup__common_html_ga1a9e18520c49be76f2a28834e2da8a56"><div class="ttname"><a href="group__common.html#ga1a9e18520c49be76f2a28834e2da8a56">pcl::calculatePolygonArea</a></div><div class="ttdeci">float calculatePolygonArea(const pcl::PointCloud&lt; PointT &gt; &amp;polygon)</div><div class="ttdoc">Calculate the area of a polygon given a point cloud that defines the polygon</div><div class="ttdef"><b>Definition:</b> common.hpp:407</div></div>
<div class="ttc" id="agroup__common_html_ga287e6ce2d4be348c059baf31eaf2dd54"><div class="ttname"><a href="group__common.html#ga287e6ce2d4be348c059baf31eaf2dd54">pcl::getMinMax</a></div><div class="ttdeci">PCL_EXPORTS void getMinMax(const pcl::PCLPointCloud2 &amp;cloud, int idx, const std::string &amp;field_name, float &amp;min_p, float &amp;max_p)</div><div class="ttdoc">Get the minimum and maximum values on a point histogram</div></div>
<div class="ttc" id="agroup__common_html_ga3349ce9c26d4acbb1adae1e9b2d5f7e5"><div class="ttname"><a href="group__common.html#ga3349ce9c26d4acbb1adae1e9b2d5f7e5">pcl::getMeanStd</a></div><div class="ttdeci">void getMeanStd(const std::vector&lt; float &gt; &amp;values, double &amp;mean, double &amp;stddev)</div><div class="ttdoc">Compute both the mean and the standard deviation of an array of values</div><div class="ttdef"><b>Definition:</b> common.hpp:71</div></div>
<div class="ttc" id="agroup__common_html_ga41eb246206d51f77a8cb82b5d963e6a2"><div class="ttname"><a href="group__common.html#ga41eb246206d51f77a8cb82b5d963e6a2">pcl::getMinMax3D</a></div><div class="ttdeci">void getMinMax3D(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, const pcl::PointIndices &amp;indices, Eigen::Vector4f &amp;min_pt, Eigen::Vector4f &amp;max_pt)</div><div class="ttdoc">Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud</div><div class="ttdef"><b>Definition:</b> common.hpp:303</div></div>
<div class="ttc" id="agroup__common_html_ga8c74d7c459961a2650c22eff8126aef8"><div class="ttname"><a href="group__common.html#ga8c74d7c459961a2650c22eff8126aef8">pcl::getAngle3D</a></div><div class="ttdeci">double getAngle3D(const Eigen::Vector3f &amp;v1, const Eigen::Vector3f &amp;v2, const bool in_degree=false)</div><div class="ttdoc">Compute the smallest angle between two 3D vectors in radians (default) or degree.</div><div class="ttdef"><b>Definition:</b> common.hpp:58</div></div>
<div class="ttc" id="agroup__common_html_gab5669ac9649b383c053ef67cc06e6b55"><div class="ttname"><a href="group__common.html#gab5669ac9649b383c053ef67cc06e6b55">pcl::getMaxDistance</a></div><div class="ttdeci">void getMaxDistance(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, const std::vector&lt; int &gt; &amp;indices, const Eigen::Vector4f &amp;pivot_pt, Eigen::Vector4f &amp;max_pt)</div><div class="ttdoc">Get the point at maximum distance from a given point and a given pointcloud</div><div class="ttdef"><b>Definition:</b> common.hpp:177</div></div>
<div class="ttc" id="agroup__common_html_gab64d6ba9e834d29feda71a76d3ec841f"><div class="ttname"><a href="group__common.html#gab64d6ba9e834d29feda71a76d3ec841f">pcl::getCircumcircleRadius</a></div><div class="ttdeci">double getCircumcircleRadius(const PointT &amp;pa, const PointT &amp;pb, const PointT &amp;pc)</div><div class="ttdoc">Compute the radius of a circumscribed circle for a triangle formed of three points pa,...</div><div class="ttdef"><b>Definition:</b> common.hpp:376</div></div>
<div class="ttc" id="agroup__common_html_gab831a44b375fa7e6bada740d1d17e247"><div class="ttname"><a href="group__common.html#gab831a44b375fa7e6bada740d1d17e247">pcl::getPointsInBox</a></div><div class="ttdeci">void getPointsInBox(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, Eigen::Vector4f &amp;min_pt, Eigen::Vector4f &amp;max_pt, std::vector&lt; int &gt; &amp;indices)</div><div class="ttdoc">Get a set of points residing in a box given its bounds</div><div class="ttdef"><b>Definition:</b> common.hpp:87</div></div>
<div class="ttc" id="agroup__common_html_gacb684087702126b29c8b99f1e2c2786b"><div class="ttname"><a href="group__common.html#gacb684087702126b29c8b99f1e2c2786b">pcl::getMeanStdDev</a></div><div class="ttdeci">PCL_EXPORTS void getMeanStdDev(const std::vector&lt; float &gt; &amp;values, double &amp;mean, double &amp;stddev)</div><div class="ttdoc">Compute both the mean and the standard deviation of an array of values</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> PCLPointCloud2.h:21</div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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